CN103460595B - Method and apparatus for being adapted to the commutation of the motor of electronic commutation - Google Patents
Method and apparatus for being adapted to the commutation of the motor of electronic commutation Download PDFInfo
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- CN103460595B CN103460595B CN201280014109.XA CN201280014109A CN103460595B CN 103460595 B CN103460595 B CN 103460595B CN 201280014109 A CN201280014109 A CN 201280014109A CN 103460595 B CN103460595 B CN 103460595B
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Classifications
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
- H02P21/50—Vector control arrangements or methods not otherwise provided for in H02P21/00- H02P21/36
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P23/00—Arrangements or methods for the control of AC motors characterised by a control method other than vector control
- H02P23/18—Controlling the angular speed together with angular position or phase
Abstract
The present invention relates to, in the method for the position adjustments of the governor motion (3) of reset force loading, methods described has steps of in a kind of fixture system (1) for the motor (2) with electronic commutation：Implement the position adjustments of the governor motion (3) according to predetermined nominal position explanation and physical location explanation, wherein described position adjustments provide adjustment amount (SG), the adjustment amount is assigned to a space vector, and the stator apparatus of the motor (2) can be controlled by the space vector；The space vector is loaded with correcting value (PO), to correct the space vector angle of the space vector；Provided auxiliary signal；Change the space vector angle of the space vector defined by the adjustment amount (SG) by the auxiliary signal；By a Parametric Integral a to integrated value, parameter wherein to be integrated depends on the adjustment amount (SG) of the auxiliary signal and the position adjustments, the adjustment amount is obtained as the response of the change of the space vector angle to the space vector, wherein deriving the correcting value (PO) by the integrated value.
Description
Technical field
Control present invention relates generally to the motor of electronic commutation, more particularly, to fit on the rotor of motor
The measure of the advance angle between the exciting field of generation and the motor field for passing through the commutation generation of stator coil.
Background technology
The motor of electronic commutation --- such as synchronous motor or asynchronous machine have stator and rotor.Stator is used to provide electricity
Motivation magnetic field.Rotor includes the rotor coil of permanent magnet and/or short circuit, to provide excitation field.
Stator has multiple stator coils, and these stator coils are respectively allocated to one or more phases of motor.With suitable
Mode to stator coil be powered to run the motor as motor, so as to produce motor field.By motor field
Interaction and excitation field between, acts the driving moment in rotor.
Implement the energization of each stator coil according to commutation method, wherein in order to produce maximum drive torque must excitation
The direction in magnetic field is provided with by the advanced of the motor field of stator coil generation.Because rotor is moved relative to stator coil,
So the position in order to apply suitable energization rotor on stator coil（Rotor-position）With（Therefore）The direction of excitation field
Must be known, so as to produce with corresponding advanced motor field.In motor field relative to excitation field
Be in advance 90 ° when（Electric rotor-position；Corresponding to machinery rotor-position divided by rotor number of pole-pairs）When can realize maximum
Driving moment.
Therefore, the position sensor of the inside for detecting rotor-position is typically provided with the motor of electronic commutation.So
Afterwards, according to the rotor-position detected by position sensor, powered-on mode is applied on corresponding stator coil.Generally so really
The size of fixed internal position sensor so that the position sensor of the inside provides enough position resolutions, so as to reality
Apply commutation.
When locator is used for using the motor of electronic commutation, in order to the expense reduced for detecting rotor-position can be carried
Go out：The position sensor of inside is not used, and only detects the position by the governor motion of motor operation.Adjusted for detecting
The use of the so-called external position sensor of the position of mechanism not only reduces the expense for motor but also reduces for motor
The expense of the wiring and control device between and be therefore favourable.However, governor motion is often through deceleration device and electricity
Machine is connected, so as to due to deceleration and because inevitable backlash is only capable of inaccurately inferring rotor-position.Inside
In the case of position sensor, purpose, the precision of the resolution ratio of restriction site sensor may be met for cost reasons.
Inexactness when asking for rotor-position by the position of governor motion cause it is described it is advanced it is unadjustable to 90 ° most
On good leading angle.Therefore, the use for the external position sensor of operating and electronically commutated motor has the disadvantages that：No
Can realize running motor with maximum torque.
The content of the invention
Therefore, task of the invention is to propose a kind of improvement commutation of motor of electronic commutation, wherein existing on having
Reduce the information of the rotor-position of precision.
The task by the method for being adapted to the commutation of the motor of electronic commutation according to claim 1 and
Solved by the equipment according to claim arranged side by side and electric motor system.
Other advantageous configurations are illustrated in the dependent claims.
Proposed to be loaded with reset force in a kind of fixture system for the motor with electronic commutation according to first aspect
Governor motion position adjustments method.The described method comprises the following steps：
- according to predetermined nominal position explanation and the position adjustments of physical location explanation implementation governor motion, wherein institute
State position adjustments and adjustment amount is provided, the adjustment amount distributes to a space vector, motor is can control by the space vector
Stator apparatus；
- space vector is loaded with correcting value, to correct the space vector angle of the space vector；
- provided auxiliary signal；
The space vector angle of-space vector defined by adjustment amount by auxiliary signal change；
- by a Parametric Integral a to integrated value, wherein parameter to be integrated depends on auxiliary signal and position adjustments
Adjustment amount, the adjustment amount as the change of the space vector angle to space vector response obtain, wherein by integrated value
Derive correcting value（PO）.
The thought of above method is that should be adjusted in the fixture system on a position in its governor motion, i.e.,
Make be used to determine for the too small position sensor of the position resolution of the normal commutation pattern of stator coil control using it
In the case of, can so implement the control of the motor of fixture system, so that motor field is relative to excitation field
It is fitted to as much as possible on 90 ° in advance.This is accomplished by the following way：By correcting value by the position for adjusting governor motion
Position adjustments adjustment amount is corrected in nominal position.The correction is carried out in the following manner：By phase offset correction
The adjustment amount in position adjustments loop, the phase offset causes the vector angle of space vector according to periodic auxiliary signal
Change, the space vector corresponds to adjustment amount.The respective response of analysis position regulation.
If motor field is advanced exactly 90 ° relative to excitation field, in hollow of two half-waves of auxiliary signal
The average constant decrease for causing to adjust torque of the change of vector angle, the change in terms of without causing adjustment amount.In motor
In the case of the deviation of leading angle between magnetic field and excitation field and preferable 90 ° of leading angle, space vector angle
Change cause to adjust the different rising of torque or reduction and thus cause position adjustments with adjustment amount wave
Response, the frequency of the adjustment amount corresponds to the frequency of auxiliary signal.The fluctuation of adjustment amount can be correspondingly analyzed and processed,
To be adapted to correcting value.In this way, the position sensor signal with tolerance can also be used to commutate, because passing through
The possible inexactness of above method correcting value equilibrium locations sensor.Can also adapting position sensor in running
The sensor error of middle appearance, such as thermal drift, sample distribution or to change motor field advanced old relative to excitation field
Change effect.
Can propose, the adjustment amount that the change to auxiliary signal and the space vector angle for passing through space vector is obtained is carried out
Bandpass filtering, wherein parameter to be integrated corresponding to through bandpass filtering auxiliary signal and through bandpass filtering, by space swear
The product of the adjustment amount that the change of the space vector angle of amount is obtained.
Additionally, before integration, the parameter for treating integration carries out LPF.
According to a kind of implementation method, pre-control can be provided with, be illustrated to distribute nominal position to pre-control parameter, especially
The adjustment amount provided by position adjustments is loaded with the pre-control parameter by addition.
Additionally, the basic frequency that auxiliary signal can be periodic and periodic auxiliary signal can be adjusted less than position
The limiting frequency of section.
Auxiliary signal especially can be periodic and as square-wave signal, scalariform signal or sine-shaped signal or conduct
Combinations thereof is provided.
In addition can propose, space vector angle is in space vector angle in the range of +/- 20 °, especially straight
Change in the range of to +/- 10 °.
A kind of position of governor motion in fixture system for the motor with electronic commutation is proposed according to another aspect
The equipment for putting regulation.The equipment includes：
- for the position adjustments list according to predetermined nominal position explanation and physical location explanation enforcing location regulation
Unit, wherein the position adjustments provide adjustment amount, the adjustment amount corresponds to a space vector, can by the space vector
The stator apparatus of controlled motor；
- be used to load space vector so as to the device of the space vector angle of correction space vector with correcting value；
- for the signal generator of provided auxiliary signal；
- for by auxiliary signal change pass through adjustment amount definition space vector space vector angle device；
- be used for Parametric Integral a to integrator for integrated value, wherein parameter to be integrated depend on auxiliary signal and
The adjustment amount of position adjustments, the adjustment amount is obtained as the response of the change of the space vector angle to space vector, wherein
Correcting value is derived by integrated value（PO）.
A kind of fixture system is proposed according to another aspect.The fixture system includes：
- the governor motion loaded with reset force；
- for providing the position sensor that physical location is illustrated；
- the motor coupled with governor motion；
- above equipment.
A kind of computer program product is proposed according to another aspect, it includes program code, when on a data processing unit
When performing described program code, described program code implementation above method.
Brief description of the drawings
The preferred embodiment of the present invention is explained in detail below according to accompanying drawing.Accompanying drawing shows：
Fig. 1：Schematic diagram for adjusting the fixture system of governor motion；
Fig. 2：The diagram of the curve of the advanced torque between excitation field on motor field and by rotor generation；
Fig. 3：The schematic diagram of the position adjustments with the adaptation on the leading angle to 90 °；
Fig. 4：Another implementation method of the position adjustments of Fig. 3.
Specific embodiment
Fig. 1 shows the schematic diagram of the fixture system 1 with the synchronous motor 2 as the motor of electronic commutation, wherein
The rotor of synchronous motor 2（It is not shown）For example coupled with governor motion 3 by transmission device 9 etc..For example, the locator
System can correspond to the throttle adjustment device in internal combustion engine, and wherein governor motion 3 corresponds to air throttle.Can be with back-moving spring
7 loading governor motions 3, so as to must be applied by synchronous motor 2 onto a defined location in order to governor motion 3 is adjusted
Plus a driving moment for determination.
In order to normally run, synchronous motor 2 needs the explanation of the rotor-position on rotor.As illustrated in fig. 1
Like that, the position sensor 6 of outside is provided with governor motion 3.In the described embodiment, by the position on governor motion 3
Position description ask for the explanation on rotor-position, so as to only indirectly provide the rotor-position on synchronous motor 2
Positional information.
In alternative embodiment, although synchronous motor 2 be provided with inside position sensor, but the inside position
Sensor is put according to implementing to have for required commutation only inadequate position resolution, it is normal from being unable to realize
Commutation.
Synchronous motor 2 is controlled by drive circuit 4, the drive circuit according to adjustment amount SG generate phase voltage and/
Or phase current, for being applied to synchronous motor 2.Drive circuit 4 has generally by so-called inverter circuit construction
Final stage（It is not shown）And 2H bridge circuits, B6 circuits etc. can be included according to phase amount.Additionally, drive circuit 4 has
Distribution function, so that adjustment amount SG to be converted to the corresponding powered-on mode for synchronous motor 2.
Adjustment amount SG, the position are provided for example in the form of control signal by position regulating unit 5 in an appropriate manner
Adjustment unit is according to nominal position LsollGeneration control signal.Nominal position LsollThere is provided by control unit 8 and can be with outside
Predetermined parameter it is related.Adjustment amount SG is converted to the voltage of the stator winding for synchronous motor 2 by power output stage 4
Curve or current curve, so that on the one hand adjustment amount illustrates the height of phase voltage, the phase voltage explanation defines motor field
Space vector amplitude.Additionally, adjustment amount SG might also say that the space vector angle of prescribed space vector so that in order to provide synchronization
The driving moment of the maximum possible of motor 2 or the efficiency of maximum possible realize what is generated by the stator coil of synchronous motor 2
90 ° of electric rotors positions between motor field and the excitation field for for example being generated by the permanent magnet in the rotor of synchronous motor 2
That puts is advanced.
The position of usual rotor is by known to position sensor 6.In present case, position sensor 6 is constructed in regulation
In mechanism 3, so that test position is illustrated.Motion of the rotor relative to governor motion 3 according to synchronous motor 2 by transmission
The deceleration that device 9 is set, the resolution ratio of the rotor-position asked for by the position description of governor motion 3 is probably only inaccurate
, therefore especially cannot ensure the leading angle with reported as precisely as possible 90 ° between motor field and excitation field
Normal commutation.
The maximum of the synchronous motor 2 in predetermined space vector amplitude is provided for the adjustment for governor motion 3
Possible adjustment torque is, it is necessary to the motor field produced by the stator coil of synchronous motor 2 and the excitation produced by rotor
Leading angle between magnetic field.For example figure 2 illustrates the curve related to leading angle of adjustment torque.As can be seen that
Torque is adjusted during the leading angle of 90 ° of electric rotor-position maximum.
The position adjustments realized by position regulating unit 5 are illustrated in greater detail in figure 3.Position regulating unit 5 is wrapped
Position control 51 is included, from asking poor unit 52 to provide alternate position spike to the position control.Poor unit 52 is asked to receive nominal position
LsollWith the physical location L provided by position sensor 6istAnd the difference signal L provided to position control 51 is providedDiff.Position
Putting adjuster 51 produces adjustment amount SG, the adjustment amount to be provided to drive circuit 4, and the drive circuit is synchronous electronic
Apply commutating mode corresponding with adjustment amount SG on machine 2.
Adjustment amount SG is substantially the explanation for adjusting torque.The position of the height corresponding to governor motion 3 of torque is adjusted, its
The spring force of middle back-moving spring 7 and on back-moving spring 7 it is balanced by adjusting the adjustment power that torque causes.
Initial balance by position sensor 6 relative to rotor-position, can be produced by position sensor signal all the time
The required phase of voltage curve and current curve.The balance can realize that the correcting value can for example be made by correcting value
For phase offset PO is illustrated and for example illustrates to be added in the space vector angle of the space vector illustrated by adjustment amount SG
Correction angle.In the process of running, such as position sensor 6 due to thermal drift occur sensor error cause synchronous electricity
The rotor-position asked for by position description and the deviation of actual rotor position of the rotor of motivation 2.In addition may be filled by being driven
Put 9 backlash formation deviation and the deceleration due to transmission device 9 forms inexactness.Thus change motor field relative to
Excitation field it is optimal advanced, it causes the efficiency reduction with the degree being illustrated in Figure 2.In order to the balanced deviation can be with
A kind of adaptation method is provided.
In the position adjustments loop of Fig. 3, phase offset PO is made up of two parts.This can be according to measured position
ListAnd the deviation between real position realizes the permanent matching of phase offset PO.Therefore, signal generator 53 is provided with, it is described
Signal generator for example produce with substantial constant it is cycle time, especially with the cyclical signal of square.So
The frequency of the signal of selection cycle change so that its response frequency less than fixture system 1.Cyclical signal is provided to
Sum unit 54, the output end of the sum unit provides phase offset PO.Periodically variable signal is phase offset PO
A part.Cyclical signal is substituted, can also be used to change using another non-periodic signals, to obtain phase offset PO.
Another input of sum unit 54 is provided by integrator 55.Therefore, in the case of initial integrator value 0,
Only corresponding to phase offset PO, the phase offset PO is corresponded to and is added the periodically variable signal of signal generator 53
Deviation angle onto space vector angle.
If provided by position sensor 6（Measured）Physical location ListCorresponding to the real position of governor motion 3
Put, then the change less than phase offset PO is perceived with position sensor 6.This is that torque ripple is generally balanced, because
When the positive half-wave and negative half-wave of periodically variable signal of signal generator 53 is applied, adjustment torque weakens in the same manner so that
Position control 51 is without this kind of respective cycle for changing and therefore occurring without adjustment amount SG of equilibrium.By cyclically-varying
Signal adjustment torque the conjunction for weakening the amplitude of periodically variable signal that can be by being provided by signal generator 53
Selection or limitation is fitted to realize.
If phase offset PO is not correspond to be adjusted for maximum in addition to the periodically variable signal of signal generator 53
Phase offset PO needed for whole torque, then occur and 90 ° of advanced deviations between motor field and excitation field.This
In situation, the positive half-wave of periodically variable signal and negative half-wave cause different adjustment torques.The different adjustment torque
Corresponding low frequency it is periodic in the case of be converted into difference signal LDiffDetectable periodic change in location.
Position control 51 attempts the balanced change in location so that occur corresponding periodicity on adjustment amount SG.For
Matched-phase skew PO, adjustment amount SG is provided by bandpass filter 56 to multiplication unit 57.Bandpass filter 56 have with
Lower band leads to frequency range：The band logical frequency range is responsible for only by the periodicity corresponding to signal generator 53 of adjustment amount SG
The part of the frequency range of the signal of change is transferred to multiplication unit 57.Equally, by especially being filtered corresponding to the first band logical
Second bandpass filter 58 of ripple device 56 provides the periodically variable signal of signal generator 53 to multiplication unit 57.
The multiplication list being not only multiplied each other by filtered adjustment amount SG but also by filtered periodically variable signal
The output end of unit 57 is connected with integrator 55.Integrator 55 can for example be set to the smoothing low-pass ripple with integrator part
Device a, so that part of the phase offset PO needed for filter output signal determines.The level of the output signal of integrator 55 sets
The sign for putting the deviation by phase offset PO Yu ideal phase shift PO determines.The sign of the deviation of phase offset PO is said
Bright adjustment amount SG is main with the periodically variable signal of signal generator 53 identical or anti-phase.In the first situation, multiply
The smoothed result of method is positive, is otherwise negative.Thus integrator part is correspondingly increased or decreased so that can be two
The matching of integrator part is carried out on individual direction.
Additionally, as the numerical value of phase offset PO and the deviation of ideal phase shift increases, the fluctuation of adjustment amount SG is shaken
Width is bigger and the signal intensity therefore in multiplication unit 57 after product is also bigger.Thus, phase offset PO and desired phase
The numerical value of the deviation of skew is bigger, then integrator value is more quickly close to ideal phase shift.
When position control 51 is extended with the particular transmission path with fictitious pole pair（Wherein pole position so selects so that
They are consistent with the main frequency component of signal generator signal）When, further improve the validity of described method.
Additionally, jumped in order to avoid unexpected torque proposing：Limit the periodically variable signal of signal generator 53
Edge steepness, and scalariform signal etc. is instead provided.Importantly, periodically variable signal is symmetrical zero point
, that is to say, that positive half-wave and negative half-wave are covered each by identical area.Can be by FIR structures or IIR structures or these knots
The appropriate combination of structure constructs the smoothing low-pass filters of integrator 55.
Figure 4 illustrates another embodiment, wherein position control 51 is provided with pre-control unit 60.The pre-control
Unit processed receives nominal position LsollAnd a pre-control value is distributed to the nominal position, by means of another sum unit
61 are added on adjustment amount SG the pre-control value.Can be arrived with pre-control value before position regulator system starts running
Nominal position LsollDistribution.Thus, it is possible to optimize position control 51 in terms of interference behavior and in desired position
Also the level that phase offset PO is reliably achieved during change is set.
Claims (11)
1. the governor motion (3) for being loaded with reset force in a kind of fixture system (1) for the motor (2) with electronic commutation
Position adjustments method, methods described has steps of：
Implement the position adjustments of the governor motion (3) according to predetermined nominal position explanation and physical location explanation, wherein,
The position adjustments provide adjustment amount (SG), and the adjustment amount is assigned to a space vector, by the space vector energy
Enough control the stator apparatus of the motor (2)；
The space vector is loaded with correcting value (PO), to correct the space vector angle of the space vector；
Provided auxiliary signal；
Change the space vector angle of the space vector defined by the adjustment amount (SG) by the auxiliary signal；
By a Parametric Integral a to integrated value, wherein, parameter to be integrated depends on the auxiliary signal and the position
The adjustment amount (SG) of regulation, the adjustment amount is obtained as the response of the change of the space vector angle to the space vector,
Wherein, the correcting value (PO) is derived by the integrated value,
Sum unit (54) is provided with, its output end provides the correcting value (PO), wherein, of the sum unit (54) is defeated
Enter end and be provided to the auxiliary signal, wherein, another input of the sum unit (54) is provided to the integration
Value.
2. method according to claim 1, wherein, to the auxiliary signal and the space vector by the space vector
The adjustment amount that the change of angle is obtained carries out bandpass filtering, wherein, the parameter to be integrated is corresponded to through the auxiliary of bandpass filtering
Help signal and through bandpass filtering, adjustment amount (SG) that the change of space vector angle by the space vector is obtained multiply
Product.
3. method according to claim 1 and 2, wherein, the parameter to be integrated carried out before the integration low
Pass filter.
4. method according to claim 1 and 2, wherein, pre-control is provided with, to distribute nominal position to pre-control parameter
Illustrate (Lsoll), with the adjustment amount that pre-control parameter loading is provided by the position adjustments.
5. method according to claim 1 and 2, wherein, the auxiliary signal is periodic, wherein, the periodicity
Auxiliary signal basic frequency less than the position adjustments limiting frequency.
6. method according to claim 1 and 2, wherein, the auxiliary signal is periodic, wherein, believe as square wave
Number, scalariform signal or sine-shaped signal or provide the auxiliary signal as combinations thereof.
7. method according to claim 1 and 2, wherein, the space vector angle is in most space vector angles
+/- 20 ° in the range of change.
8. method according to claim 4, wherein, loaded by the position adjustments with the pre-control parameter by addition
The adjustment amount of offer.
9. method according to claim 7, wherein, the space vector angle is in most space vector angles
Change in the range of +/- 10 °.
10. the position adjustments of governor motion set in a kind of fixture system (1) for the motor (2) with electronic commutation
It is standby, wherein, the equipment includes：
For illustrating (L according to predetermined nominal positionsoll) and physical location explanation (List) enforcing location regulation position adjust
Section unit (5), wherein, the position adjustments provide adjustment amount (SG), and the adjustment amount corresponds to space vector, by the sky
Between vector can control the stator apparatus of the motor (2)；
For loading the space vector to correct the device of the space vector angle of the space vector with correcting value (PO)；
For the signal generator (53) of provided auxiliary signal；
Device for changing the space vector angle of the space vector defined by the adjustment amount by the auxiliary signal；
For by a Parametric Integral a to integrator for integrated value (55), wherein, parameter to be integrated depends on described auxiliary
Help the adjustment amount of signal and the position adjustments, the adjustment amount as the space vector angle to the space vector change
Response obtain, wherein, the correcting value (PO) is derived by the integrated value,
Sum unit (54), its output end provides the correcting value (PO), wherein, an input of the sum unit (54)
The auxiliary signal is provided to, wherein, another input of the sum unit (54) is provided to the integrated value.
A kind of 11. fixture systems (1), it includes：
With the governor motion that reset force is loaded；
For providing physical location explanation (List) position sensor (6)；
The motor (2) coupled with the governor motion (3)；
Equipment according to claim 10.
Applications Claiming Priority (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| DE102011005774A DE102011005774A1 (en) | 2011-03-18 | 2011-03-18 | Method and device for adapting a commutation for an electronically commutated electrical machine |
| DE102011005774.9 | 2011-03-18 | ||
| PCT/EP2012/050549 WO2012126641A2 (en) | 2011-03-18 | 2012-01-16 | Method and apparatus for adapting commutation for an electronically commutated electrical machine |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN103460595A CN103460595A (en) | 2013-12-18 |
| CN103460595B true CN103460595B (en) | 2017-06-20 |
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ID=45531865
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201280014109.XA Active CN103460595B (en) | 2011-03-18 | 2012-01-16 | Method and apparatus for being adapted to the commutation of the motor of electronic commutation |
Country Status (6)
| Country | Link |
|---|---|
| US (1) | US9537439B2 (en) |
| EP (1) | EP2686952B1 (en) |
| JP (1) | JP5813203B2 (en) |
| CN (1) | CN103460595B (en) |
| DE (1) | DE102011005774A1 (en) |
| WO (1) | WO2012126641A2 (en) |
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|---|---|---|---|---|
| DE102013209624A1 (en) | 2013-05-23 | 2014-11-27 | Robert Bosch Gmbh | Method and control unit for calibrating a drive of a throttle valve of an internal combustion engine in a motor vehicle |
| DE102013218472A1 (en) | 2013-09-16 | 2015-03-19 | Robert Bosch Gmbh | Method and device for detecting positional errors of a rotor of an electronically commutated actuator |
| DE102014210930A1 (en) * | 2014-06-06 | 2015-12-17 | Robert Bosch Gmbh | Method and device for adjusting an actuator of a positioner system with an electronically commutated actuator |
| DE102014212554A1 (en) * | 2014-06-30 | 2015-12-31 | Siemens Aktiengesellschaft | Diagnosis of a drive system and drive system |
| TWI551968B (en) * | 2015-12-29 | 2016-10-01 | Hiwin Tech Corp | Driving device for electric jaw and driving method thereof |
| DE102016209356B3 (en) * | 2016-05-31 | 2017-06-14 | Robert Bosch Gmbh | Method for calibrating a clutch actuator and clutch actuator |
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| CN1523465A (en) * | 2003-02-20 | 2004-08-25 | ������������ʽ���� | Servocontrol device |
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| US5406474A (en) * | 1990-07-16 | 1995-04-11 | The Foxboro Company | Self-tuning controller |
| JP3675192B2 (en) * | 1998-09-28 | 2005-07-27 | 株式会社日立製作所 | Motor control device, electric vehicle control device, and hybrid vehicle control device |
| JP2000209888A (en) * | 1999-01-13 | 2000-07-28 | Fujitsu General Ltd | Controller for brushless motor |
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2011
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2012
- 2012-01-16 JP JP2014500294A patent/JP5813203B2/en active Active
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| CN1523465A (en) * | 2003-02-20 | 2004-08-25 | ������������ʽ���� | Servocontrol device |
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|---|---|
| WO2012126641A3 (en) | 2013-05-30 |
| WO2012126641A2 (en) | 2012-09-27 |
| EP2686952B1 (en) | 2020-08-19 |
| US20140159617A1 (en) | 2014-06-12 |
| EP2686952A2 (en) | 2014-01-22 |
| US9537439B2 (en) | 2017-01-03 |
| CN103460595A (en) | 2013-12-18 |
| DE102011005774A1 (en) | 2012-09-20 |
| JP5813203B2 (en) | 2015-11-17 |
| JP2014514900A (en) | 2014-06-19 |
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